Sensory-Motor Coupling in Rehabilitation Robotics

Hernandez-Arieta, Alejandro; Dermitzakis, Konstantinos; Damian, Dana D.; Lungarella, Max; Pfeifer, Rolf

doi:10.5772/6066

Cited by 8 publications

(2 citation statements)

References 44 publications

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“…It will be important in future sensory feedback experiments on sensory reinnervation that both modality matching and somatotopic matching be present, along with simultaneous motor control. This is reinforced by prior work that has shown the importance of sensorimotor coupling to intuitive control [52].…”

Section: Functional Experiments: Haptic Devicesmentioning

confidence: 73%

Updates in Targeted Sensory Reinnervation for Upper Limb Amputation

et al. 2014

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Advanced robotic devices capable of simulating the dexterous ability of the upper limb with an array of internal sensors have raised the enticing prospect of replacing the lost intricate functions of the arm following upper limb amputation. However, a large gap still exists in the application of this technology to the human user. In particular, the ability to provide physiologically relevant sensory feedback-to have the amputee feel the prosthetic hand as their own-has not yet been achieved. Although a number of different approaches are being investigated, targeted sensory reinnervation, a refinement of the original targeted muscle reinnervation procedure, is the most recent and promising development in the effort to create a functional human-machine interface with a closed loop sensory feedback system. This technique aims to reestablish hand sensation on the skin so that it can be readily accessed non-invasively during functional tasks. Recent efforts are being directed towards distributing hand maps widely on the stump without interference of sensations from the native area. In this article, we will review the surgical approaches that have been used for sensory reinnervation in upper arm amputation and compare the resultant outcomes and potential functional utility of the techniques.

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Section: Functional Experiments: Haptic Devicesmentioning

confidence: 73%

Updates in Targeted Sensory Reinnervation for Upper Limb Amputation

et al. 2014

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“…• Os sinais de EMG são emitidos antes da contração muscular, devido aos atrasos do sinal de propagação e porque as fibras musculares precisam de algum tempo para se contrair; e, portanto, podem ser utilizados para a predição (HERNANDEZ-ARIETA et al , 2008).…”

Section: O Joelho Humanounclassified

Método de estimativa de torque da articulação do joelho baseada em EMG

Jauregui¹,

Stheven²

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DedicatóriaDedico este trabalho aos meus pais Rosa e Augusto, los amo. AgradecimentosA Deus, por me dar saúde e permitir que eu concluísse minha pesquisa.Ao meu orientador Prof. Dr. Adriano Siqueira, pela orientação neste trabalho.A Rosa e Augusto, meus pais, pela oportunidade de estudar, nunca poderei pagar o amor infinito que me deram. A Patricia, minha irmã, pelo carinho e força nesta etapa de estudo. A minha namorada Joselyn, por todo amor e compreensão nesta fase importante da minha vida.Aos meus novos amigos Alejandro e Karla, pela amizade e apoio em todo momento nestos dois anos.Aos meus companheiros do Laboratório de Reabilitação Robótica.Ao CNPq pelo financiamento durante o meu periodo de mestrado. Este trabalho apresenta um método de estimativa de torque do joelho baseado em sinais eletromiográficos (EMG) durante terapia de reabilitação robótica. Os EMGs, adquiridos de cinco músculos envolvidos no movimento de flexão e extensão do joelho, são processados para encontrar as ativações musculares. Em seguida, mediante um modelo simples de contração muscular, são calculadas as forças e, usando a geometria da articulação, o torque do joelho.As funções de ativação e contração musculares possuem parâmetros limitados que devem ser calibrados para cada usuário, sendo o ajuste feito mediante a minimização do erro entre o torque estimado e o torque medido na articulação usando a dinâmica inversa. São comparados dois métodos iterativos para funções não-lineares como técnicas de otimização restrita para a calibração dos parâmetros: Gradiente Descendente e Quasi-Newton. O processamento de sinais, calibração de parâmetros e cálculo de torque estimado foram desenvolvidos no software MATLAB R ; o cálculo de torque medido foi feito no software OpenSim com sua ferramenta de dinâmica inversa.Palavras-chave: EMG, estimativa de torque, modelo de contração muscular, reabilitação robótica.

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Crossmodal representation of a functional robotic hand arises after extensive training in healthy participants

et al. 2014

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The way in which humans represent their own bodies is critical in guiding their interactions with the environment. To achieve successful body-space interactions, the body representation is strictly connected with that of the space immediately surrounding it through efficient visuo-tactile crossmodal integration. Such a body-space integrated representation is not fixed, but can be dynamically modulated by the use of external tools. Our study aims to explore the effect of using a complex tool, namely a functional prosthesis, on crossmodal visuo-tactile spatial interactions in healthy participants. By using the crossmodal visuo-tactile congruency paradigm, we found that prolonged training with a mechanical hand capable of distal hand movements and providing sensory feedback induces a pattern of interference, which is not observed after a brief training, between visual stimuli close to the prosthesis and touches on the body. These results suggest that after extensive, but not short, training the functional prosthesis acquires a visuo-tactile crossmodal representation akin to real limbs. This finding adds to previous evidence for the embodiment of functional prostheses in amputees, and shows that their use may also improve the crossmodal combination of somatosensory feedback delivered by the prosthesis with visual stimuli in the space around it, thus effectively augmenting the patients' visuomotor abilities.

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Sensory-Motor Coupling in Rehabilitation Robotics

Cited by 8 publications

References 44 publications

Updates in Targeted Sensory Reinnervation for Upper Limb Amputation

Updates in Targeted Sensory Reinnervation for Upper Limb Amputation

Método de estimativa de torque da articulação do joelho baseada em EMG

Crossmodal representation of a functional robotic hand arises after extensive training in healthy participants

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